#include "PS2X_lib.h" #include #include #include #include #if ARDUINO > 22 #include "Arduino.h" #else #include "WProgram.h" #include "pins_arduino.h" #endif static byte enter_config[]={0x01,0x43,0x00,0x01,0x00}; static byte set_mode[]={0x01,0x44,0x00,0x01,0x03,0x00,0x00,0x00,0x00}; static byte set_bytes_large[]={0x01,0x4F,0x00,0xFF,0xFF,0x03,0x00,0x00,0x00}; static byte exit_config[]={0x01,0x43,0x00,0x00,0x5A,0x5A,0x5A,0x5A,0x5A}; static byte enable_rumble[]={0x01,0x4D,0x00,0x00,0x01}; static byte type_read[]={0x01,0x45,0x00,0x5A,0x5A,0x5A,0x5A,0x5A,0x5A}; boolean PS2X::NewButtonState() { return ((last_buttons ^ buttons) > 0); } boolean PS2X::NewButtonState(unsigned int button) { return (((last_buttons ^ buttons) & button) > 0); } boolean PS2X::ButtonPressed(unsigned int button) { return(NewButtonState(button) & Button(button)); } boolean PS2X::ButtonReleased(unsigned int button) { return((NewButtonState(button)) & ((~last_buttons & button) > 0)); } boolean PS2X::Button(uint16_t button) { return ((~buttons & button) > 0); } unsigned int PS2X::ButtonDataByte() { return (~buttons); } byte PS2X::Analog(byte button) { return PS2data[button]; } unsigned char PS2X::_gamepad_shiftinout (char byte) { uint8_t old_sreg = SREG; // *** KJE *** save away the current state of interrupts unsigned char tmp = 0; cli(); // *** KJE *** disable for now for(i=0;i<8;i++) { if(CHK(byte,i)) SET(*_cmd_oreg,_cmd_mask); else CLR(*_cmd_oreg,_cmd_mask); CLR(*_clk_oreg,_clk_mask); SREG = old_sreg; // *** *** KJE *** *** Interrupts may be enabled again delayMicroseconds(CTRL_CLK); cli(); // *** KJE *** if(CHK(*_dat_ireg,_dat_mask)) SET(tmp,i); SET(*_clk_oreg,_clk_mask); } SET(*_cmd_oreg,_cmd_mask); SREG = old_sreg; // *** *** KJE *** *** Interrupts may be enabled again delayMicroseconds(CTRL_BYTE_DELAY); return tmp; } void PS2X::read_gamepad() { read_gamepad(false, 0x00); } void PS2X::read_gamepad(boolean motor1, byte motor2) { double temp = millis() - last_read; uint8_t old_sreg = SREG; // *** KJE **** save away the current state of interrupts - *** *** KJE *** *** if (temp > 1500) //waited to long reconfig_gamepad(); if(temp < read_delay) //waited too short delay(read_delay - temp); last_buttons = buttons; //store the previous buttons states if(motor2 != 0x00) motor2 = map(motor2,0,255,0x40,0xFF); //noting below 40 will make it spin cli(); //*** KJE *** SET(*_cmd_oreg,_cmd_mask); SET(*_clk_oreg,_clk_mask); CLR(*_att_oreg,_att_mask); // low enable joystick SREG = old_sreg; // *** KJE *** - Interrupts may be enabled again delayMicroseconds(CTRL_BYTE_DELAY); //Send the command to send button and joystick data; char dword[9] = {0x01,0x42,0,motor1,motor2,0,0,0,0}; byte dword2[12] = {0,0,0,0,0,0,0,0,0,0,0,0}; for (int i = 0; i<9; i++) { PS2data[i] = _gamepad_shiftinout(dword[i]); } if(PS2data[1] == 0x79) { //if controller is in full data return mode, get the rest of data for (int i = 0; i<12; i++) { PS2data[i+9] = _gamepad_shiftinout(dword2[i]); } } cli(); SET(*_att_oreg,_att_mask); // HI disable joystick SREG = old_sreg; // Interrupts may be enabled again #ifdef PS2X_COM_DEBUG Serial.println("OUT:IN"); for(int i=0; i<9; i++){ Serial.print(dword[i], HEX); Serial.print(":"); Serial.print(PS2data[i], HEX); Serial.print(" "); } for (int i = 0; i<12; i++) { Serial.print(dword2[i], HEX); Serial.print(":"); Serial.print(PS2data[i+9], HEX); Serial.print(" "); } Serial.println(""); #endif buttons = *(uint16_t*)(PS2data+3); //store as one value for multiple functions last_read = millis(); } byte PS2X::config_gamepad(uint8_t clk, uint8_t cmd, uint8_t att, uint8_t dat) { return config_gamepad(clk, cmd, att, dat, false, false); } byte PS2X::config_gamepad(uint8_t clk, uint8_t cmd, uint8_t att, uint8_t dat, bool pressures, bool rumble) { uint8_t old_sreg = SREG; // *** KJE *** save away the current state of interrupts byte temp[sizeof(type_read)]; _clk_mask = maskToBitNum(digitalPinToBitMask(clk)); _clk_oreg = portOutputRegister(digitalPinToPort(clk)); _cmd_mask = maskToBitNum(digitalPinToBitMask(cmd)); _cmd_oreg = portOutputRegister(digitalPinToPort(cmd)); _att_mask = maskToBitNum(digitalPinToBitMask(att)); _att_oreg = portOutputRegister(digitalPinToPort(att)); _dat_mask = maskToBitNum(digitalPinToBitMask(dat)); _dat_ireg = portInputRegister(digitalPinToPort(dat)); pinMode(clk, OUTPUT); //configure ports pinMode(att, OUTPUT); pinMode(cmd, OUTPUT); pinMode(dat, INPUT); digitalWrite(dat, HIGH); //enable pull-up cli(); // *** KJE *** disable for now SET(*_cmd_oreg,_cmd_mask); // SET(*_cmd_oreg,_cmd_mask); SET(*_clk_oreg,_clk_mask); SREG = old_sreg; // *** *** KJE *** *** Interrupts may be enabled again //new error checking. First, read gamepad a few times to see if it's talking read_gamepad(); read_gamepad(); //see if it talked if(PS2data[1] != 0x41 && PS2data[1] != 0x73 && PS2data[1] != 0x79){ //see if mode came back. If still anything but 41, 73 or 79, then it's not talking #ifdef PS2X_DEBUG Serial.println("Controller mode not matched or no controller found"); Serial.print("Expected 0x41 or 0x73, got "); Serial.println(PS2data[1], HEX); #endif return 1; //return error code 1 } //try setting mode, increasing delays if need be. read_delay = 1; for(int y = 0; y <= 10; y++) { sendCommandString(enter_config, sizeof(enter_config)); //start config run //read type delayMicroseconds(CTRL_BYTE_DELAY); cli(); // *** KJE *** disable for now SET(*_cmd_oreg,_cmd_mask); SET(*_clk_oreg,_clk_mask); CLR(*_att_oreg,_att_mask); // low enable joystick SREG = old_sreg; // *** *** KJE *** *** Interrupts may be enabled again delayMicroseconds(CTRL_BYTE_DELAY); for (int i = 0; i<9; i++) { temp[i] = _gamepad_shiftinout(type_read[i]); } cli(); // *** KJE *** disable for now SET(*_att_oreg,_att_mask); // HI disable joystick SREG = old_sreg; // *** *** KJE *** *** Interrupts may be enabled again controller_type = temp[3]; sendCommandString(set_mode, sizeof(set_mode)); if(rumble){ sendCommandString(enable_rumble, sizeof(enable_rumble)); en_Rumble = true; } if(pressures){ sendCommandString(set_bytes_large, sizeof(set_bytes_large)); en_Pressures = true; } sendCommandString(exit_config, sizeof(exit_config)); read_gamepad(); if(pressures){ if(PS2data[1] == 0x79) break; if(PS2data[1] == 0x73) return 3; } if(PS2data[1] == 0x73) break; if(y == 10){ #ifdef PS2X_DEBUG Serial.println("Controller not accepting commands"); Serial.print("mode stil set at"); Serial.println(PS2data[1], HEX); #endif return 2; //exit function with error } read_delay += 1; //add 1ms to read_delay } return 0; //no error if here } void PS2X::sendCommandString(byte string[], byte len) { uint8_t old_sreg = SREG; // *** KJE *** save away the current state of interrupts #ifdef PS2X_COM_DEBUG byte temp[len]; cli(); // *** KJE *** disable for now CLR(*_att_oreg,_att_mask); // low enable joystick SREG = old_sreg; // *** *** KJE *** *** Interrupts may be enabled again for (int y=0; y < len; y++) temp[y] = _gamepad_shiftinout(string[y]); cli(); // *** KJE *** disable for now SET(*_att_oreg,_att_mask); //high disable joystick SREG = old_sreg; // *** *** KJE *** *** Interrupts may be enabled again delay(read_delay); //wait a few Serial.println("OUT:IN Configure"); for(int i=0; i